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INTRODUCTION
Thank you for choosing the Q173CPU(N)/Q172CPU(N) Motion Controller.
Please read this manual carefully so that equipment is used to its optimum.
CONTENTS
Safety Precautions .........................................................................................................................................A- 1
Revisions ........................................................................................................................................................A-11
Contents .........................................................................................................................................................A-12
About Manuals ...............................................................................................................................................A-18
1. OVERVIEW 1- 1 to 1-96
1.1 Overview................................................................................................................................................... 1- 1
1.2 Features ................................................................................................................................................... 1- 3
1.2.1 Features of Motion CPU ................................................................................................................... 1- 3
1.2.2 Basic specifications of Q173CPU(N)/Q172CPU(N)......................................................................... 1- 6
1.2.3 Operation control/transition control specifications ........................................................................... 1- 9
1.2.4 Differences between Q173CPU(N)/Q172CPU(N)and A173UHCPU/A172SHCPUN.................... 1-13
1.2.5 Positioning dedicated devices/special relays/special registers ....................................................... 1-15
1.3 Hardware Configuration ........................................................................................................................... 1-55
1.3.1 Motion system configuration ............................................................................................................. 1-55
1.3.2 Q173CPU(N) System overall configuration...................................................................................... 1-61
1.3.3 Q172CPU(N) System overall configuration...................................................................................... 1-63
1.3.4 Software packages............................................................................................................................ 1-65
1.3.5 Restrictions on motion systems........................................................................................................ 1-69
1.4 Multiple CPU System ............................................................................................................................... 1-71
1.4.1 Overview............................................................................................................................................ 1-71
1.4.2 Installation of PLC CPU and Motion CPU ........................................................................................ 1-72
1.4.3 Precautions for using Q series I/O modules and intelligent function modules................................ 1-73
1.4.4 Modules subject to installation restrictions....................................................................................... 1-74
1.4.5 Processing time of the Multiple CPU system ................................................................................... 1-75
1.4.6 How to reset the Multiple CPU system............................................................................................. 1-76
1.4.7 Processing at a CPU DOWN error occurrence by a PLC CPU or Q173CPU(N)/Q172CPU(N).... 1-77
1.5 System Settings .......................................................................................................................................1-80
1.5.1 System data settings.........................................................................................................................1-80
1.5.2 Common system parameters ...........................................................................................................1-81
1.5.3 Individual parameters........................................................................................................................ 1-87
1.6 Assignment of I/O No............................................................................................................................... 1-92
1.6.1 I/O No. for I/O modules and intelligent function modules ................................................................1-92
1.6.2 I/O No. of PLC CPU and Q173CPU(N)/Q172CPU(N)..................................................................... 1-95
1.6.3 Setting I/O No....................................................................................................................................1-96
2. STARTING UP THE MULTIPLE CPU SYSTEM 2- 1 to 2- 2
2.1 Startup Flow of the Multiple CPU System............................................................................................... 2- 1